// Copyright (C) 2008, 2011 International Business Machines and others.
// All Rights Reserved.
// This code is published under the Eclipse Public License.
//
// Authors:  Andreas Waechter            IBM    2008-08-31

#include "IpInexactNewtonNormal.hpp"
#include "IpSymLinearSolver.hpp"

namespace Ipopt
{

#if IPOPT_VERBOSITY > 0
static const Index dbg_verbosity = 0;
#endif

InexactNewtonNormalStep::InexactNewtonNormalStep(
   SmartPtr<AugSystemSolver> aug_solver
)
   : aug_solver_(aug_solver)
{ }

InexactNewtonNormalStep::~InexactNewtonNormalStep()
{ }

void InexactNewtonNormalStep::RegisterOptions(
   SmartPtr<RegisteredOptions> reg_options
)
{ }

bool InexactNewtonNormalStep::InitializeImpl(
   const OptionsList& options,
   const std::string& prefix
)
{
   return aug_solver_->Initialize(Jnlst(), IpNLP(), IpData(), IpCq(), options, prefix);
}

bool InexactNewtonNormalStep::ComputeNewtonNormalStep(
   Vector& newton_x,
   Vector& newton_s
)
{
   DBG_START_METH("InexactNewtonNormalStep::ComputeNormalNewtonStep",
                  dbg_verbosity);

   // Get the entries for the augmented system matrix

   // TODO: Make it possible to provide no Hessian!!!
   SmartPtr<const SymMatrix> zeroW = IpNLP().uninitialized_h();
   SmartPtr<const Matrix> J_c = IpCq().curr_jac_c();
   SmartPtr<const Matrix> J_d = IpCq().curr_jac_d();
   // D_s is S^2 where S is the scaling factors from the slacks
   SmartPtr<const Vector> curr_scaling_slacks = InexCq().curr_scaling_slacks();
   SmartPtr<Vector> D_s = curr_scaling_slacks->MakeNewCopy();
   D_s->ElementWiseMultiply(*curr_scaling_slacks);
   D_s->ElementWiseReciprocal();

   // Get the entires for the right hand side
   SmartPtr<const Vector> curr_c = IpCq().curr_c();
   SmartPtr<const Vector> curr_d_minus_s = IpCq().curr_d_minus_s();
   SmartPtr<Vector> rhs_x = IpData().curr()->x()->MakeNew();
   rhs_x->Set(0.);
   SmartPtr<Vector> rhs_s = IpData().curr()->s()->MakeNew();
   rhs_s->Set(0.);

   // Get the space for the solution
   SmartPtr<Vector> sol_c = curr_c->MakeNew();
   SmartPtr<Vector> sol_d = curr_d_minus_s->MakeNew();

   ESymSolverStatus retval = aug_solver_->Solve(GetRawPtr(zeroW), 0., NULL, 1., GetRawPtr(D_s), 0., GetRawPtr(J_c),
                             NULL, 0., GetRawPtr(J_d), NULL, 0., *rhs_x, *rhs_s, *curr_c, *curr_d_minus_s, newton_x, newton_s, *sol_c, *sol_d,
                             false, 0);

   if( retval == SYMSOLVER_SINGULAR )
   {
      Jnlst().Printf(J_DETAILED, J_SOLVE_PD_SYSTEM,
                     "Resolving Newton step system with c-d perturbation.\n");
      retval = aug_solver_->Solve(GetRawPtr(zeroW), 0., NULL, 1., GetRawPtr(D_s), 0., GetRawPtr(J_c), NULL, 1e-8,
                                  GetRawPtr(J_d), NULL, 1e-8, *rhs_x, *rhs_s, *curr_c, *curr_d_minus_s, newton_x, newton_s, *sol_c, *sol_d,
                                  false, 0);
   }

   if( retval != SYMSOLVER_SUCCESS )
   {
      return false;
   }

   // return the step in the slack-scaled space
   newton_s.ElementWiseDivide(*curr_scaling_slacks);

   newton_x.Scal(-1.);
   newton_s.Scal(-1.);

   return true;
}

} // namespace Ipopt
